Trajectory shaping guidance for impact angle control of planetary hopping robots

Date published

2024-11-11

Free to read from

2024-11-25

Supervisor/s

Journal Title

Journal ISSN

Volume Title

Publisher

Frontiers

Department

Type

Article

ISSN

2296-9144

Format

Citation

Mondal S, Upadhyay S. (2024) Trajectory shaping guidance for impact angle control of planetary hopping robots. Frontiers in Robotics and AI, Volume 11, November 2024, Article number 1452997

Abstract

This paper presents a novel optimal trajectory-shaping control concept for a planetary hopping robot. The hopping robot suffers from uncontrolled in-flight and undesired after-landing motions, leading to a position drift at landing. The proposed concept thrives on the Generalized Vector Explicit (GENEX) guidance, which can generate and shape the optimal trajectory and satisfy the end-point constraints like the impact angle of the velocity vector. The proposed concept is used for a thruster-based hopping robot, which achieves a range of impact angles, reduces the position drift at landing due to the undesired in-flight and after-landing motions, and handles the error in initial hopping angles. The proposed approach’s conceptual realization is illustrated by lateral acceleration generated using thruster orientation control. Extensive simulations are carried out on horizontal and sloped surfaces with different initial and impact angle conditions to demonstrate the effect of impact angle on the position drift error and the viability of the proposed approach.

Description

Software Description

Software Language

Github

Keywords

46 Information and Computing Sciences, 4007 Control Engineering, Mechatronics and Robotics, 40 Engineering, 4001 Aerospace Engineering, 40 Engineering, 46 Information and computing sciences, hopping robot, trajectory shaping control, generalized vector explicit (GENEX) guidance, planetary exploration, space robotics

DOI

Rights

Attribution 4.0 International

Relationships

Relationships

Resources

Funder/s